/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "motor_simulation.h"
#include "bsp_dwt.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */


/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

typedef  struct PID_Velocity{
  float Kp;
	float Ki;
	float Kd;
  float set_Velocity;
	float error;
	float last_error;
  float  inte;
	float der;
	float output1;
	
	
	}PID_In;
typedef  struct PID_Angle{
  float Kp;
	float Ki;
	float Kd;
  float set_Angle;
	float error;
	float last_error;
  float  inte;
	float  der;
	float output2;
	
	
	}PID_Ini;
float set_Velocity;
float set_Angle;
float in_Velcity;
float in_Angle;
float Velocity;
float Angle;	
float v;
int Mode;
int k;
float w;
float disturbance;

void PID_Init(PID_In *pid, float Kp, float Ki, float Kd,float set_Velcity,float in_Velcity)
{
    pid->Kp = Kp;
    pid->Ki = Ki;
    pid->Kd = Kd;
	  pid->set_Velocity=0;
    pid->error =0 ;
    pid->last_error=0;
	  pid->inte=0;
	  
}
void PID_Int(PID_Ini *pid, float Kp, float Ki, float Kd,float set_Angle,float in_Angle)
{
    pid->Kp = Kp;
    pid->Ki = Ki;
    pid->Kd = Kd;
	  pid->set_Angle=0;
    pid->error =0 ;
    pid->last_error=0;
	  pid->inte=0;
	  
}
//PID caculate
float  PID_Controller1(PID_In *pid,float set_Velcity,float in_Velocity,float dt) {
	pid->error =set_Velcity-in_Velocity ;
	pid->inte +=pid->error *dt;
	pid->der=(pid->error-pid->last_error)/dt;
	 pid->output1 =pid->Kp*pid->error +pid->Ki*pid->inte +pid->Kd*pid->der ;
	pid->last_error=pid->error;
  return pid->output1 ;
}
float  PID_Controller2(PID_Ini *pid,float set_Angle,float in_Angle,float dt) {
  pid->error=set_Angle-in_Angle ;
	pid->inte +=pid->error *dt;
	pid->der =(pid->error-pid->last_error)/dt;
  pid->output2 =pid->Kp*pid->error +pid->Ki*pid->inte +pid->Kd *pid->der ;
	pid->last_error=pid->error;
  return pid->output2  ;
}


float  TX(float t, float slope ){
	return slope*t;
}

motorObject_t motor;
PID_In PID_Velocity;
PID_Ini PID_Angle;
float dt;
float t;
float  Input;
float slope;
uint32_t  DWT_CNT;

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
DWT_Init (72);
Motor_Object_Init (&motor );
PID_Init(&PID_Velocity,8,5,0,0,0);
PID_Int(&PID_Angle,8,5,0,0,0);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    dt=DWT_GetDeltaT (&DWT_CNT );
		t+=dt;
    motor.I =Get_Motor_Current(&motor );
		Velocity =Get_Motor_Velocity (&motor );
    Angle=Get_Motor_Angle(&motor);
		if(Mode ==1){
		//Velocity round
		Input =PID_Controller1( &PID_Velocity ,set_Velocity,Velocity,dt);
    //rad round  1
		Input =PID_Controller2(&PID_Angle ,set_Angle ,Angle,dt )+disturbance ;
		 Motor_Simulation( &motor, Input, dt);
		}
		 else  if(Mode==2){
		set_Velocity=TX(t,slope);
		set_Angle=TX(t,slope);
		//Velocity round
		Input =PID_Controller1( &PID_Velocity ,set_Velocity,Velocity ,dt);
    //Angle round  1
		Input =PID_Controller2(&PID_Angle ,set_Angle ,Angle ,dt );
		 Motor_Simulation( &motor, Input, dt);
		}
		else if(Mode ==3){
     set_Velocity=10*sin (w*t);
     set_Angle=6.28*sin(w*t);
		//Velocity round
		Input =PID_Controller1( &PID_Velocity ,set_Velocity,Velocity,dt);
    //Angle round  1
		Input =PID_Controller2(&PID_Angle ,set_Angle ,Angle,dt );
		 Motor_Simulation( &motor, Input, dt);
		}
		//Angle round 2
	else 	if(Mode ==4){
	  if(k==1){
			v =PID_Controller2(&PID_Angle,set_Angle,Angle,dt );
    	Input =PID_Controller1 (&PID_Velocity ,v ,Velocity ,dt)+disturbance ;
		 Motor_Simulation( &motor, Input, dt);
		}
	else if(k==2){
	set_Angle=6.28*sin(w*t);
	v =PID_Controller2(&PID_Angle,set_Angle,Angle,dt );
  Input =PID_Controller1 (&PID_Velocity ,v ,Velocity ,dt)+disturbance ;
	Motor_Simulation( &motor, Input, dt);
	}
	
	}
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
